ADD: fix APIs

driver/rocket-chip/l_trace_encoder/l_trace_encoder.c

@@ -7,7 +7,7 @@ void l_trace_sink_dma_configure_addr(LTraceSinkDmaType *sink_dma, uint64_t dma_a
 void l_trace_sink_dma_read(LTraceSinkDmaType *sink_dma, uint8_t *buffer) {
   sink_dma->TR_SK_DMA_FLUSH = 1;
   while (sink_dma->TR_SK_DMA_FLUSH_DONE == 0) {
-    ;
+    // printf("waiting for flush done\n");
   }
   // printf("[l_trace_sink_dma_read] flush done\n");
   uint64_t count = sink_dma->TR_SK_DMA_COUNT;

driver/rocket-chip/l_trace_encoder/l_trace_encoder.h

@@ -7,17 +7,19 @@
 #include "rocketcore.h"
 
 typedef struct {
-  uint32_t TR_TE_CTRL;
-  uint32_t TR_TE_TARGET;
-  uint32_t TR_TE_HPM_COUNTER;
-  uint32_t TR_TE_HPM_TIME;
+  __IO uint32_t TR_TE_CTRL; //0x00
+  __I uint32_t TR_TE_INFO; //0x04
+  __IO uint32_t TR_TE_BUBBLE[6]; //0x08-0x1C
+  __IO uint32_t TR_TE_TARGET; //0x20
+  __IO uint32_t TR_TE_HPM_COUNTER; //0x24
+  __IO uint32_t TR_TE_HPM_TIME; //0x28
 } LTraceEncoderType;
 
 typedef struct {
-  uint32_t TR_SK_DMA_FLUSH;
-  uint32_t TR_SK_DMA_FLUSH_DONE;
-  uint64_t TR_SK_DMA_ADDR;
-  uint64_t TR_SK_DMA_COUNT;
+  __IO uint32_t TR_SK_DMA_FLUSH;
+  __I uint32_t TR_SK_DMA_FLUSH_DONE;
+  __IO uint64_t TR_SK_DMA_ADDR;
+  __I uint64_t TR_SK_DMA_COUNT;
 } LTraceSinkDmaType;
 
 #define TARGET_PRINT 0x0

examples/pmu-tests/src/ltrace-dma-test.c

@@ -2,12 +2,34 @@
 #include "riscv.h"
 #include "riscv_encoding.h"
 #include "l_trace_encoder.h"
+#include "math.h"
+#define USE_L_TRACE_DMA
+__attribute__((aligned(64), section(".noinit"))) static volatile uint8_t dma_buffer[512 * 1024];
 
-#define NUM_ITERS 100
+#define NUM_ITERS 60 // 0 to 2pi, 60 steps
 
-#define USE_L_TRACE_DMA
+void FOC_invParkTransform(float *v_alpha, float *v_beta, float v_q, float v_d, float sin_theta, float cos_theta) {
+  *v_alpha  = -(sin_theta * v_q) + (cos_theta * v_d);
+  *v_beta   =  (cos_theta * v_q) + (sin_theta * v_d);
+}
 
-__attribute__((aligned(64), section(".noinit"))) static volatile uint8_t dma_buffer[512 * 1024];
+void FOC_invClarkSVPWM(float *v_a, float *v_b, float *v_c, float v_alpha, float v_beta) {
+  float v_a_phase = v_alpha;
+  float v_b_phase = (-.5f * v_alpha) + ((sqrtf(3.f)/2.f) * v_beta);
+  float v_c_phase = (-.5f * v_alpha) - ((sqrtf(3.f)/2.f) * v_beta);
+
+  float v_neutral = .5f * (fmaxf(fmaxf(v_a_phase, v_b_phase), v_c_phase) + fminf(fminf(v_a_phase, v_b_phase), v_c_phase));
+
+  *v_a = v_a_phase - v_neutral;
+  *v_b = v_b_phase - v_neutral;
+  *v_c = v_c_phase - v_neutral;
+}
+
+void FOC_update(float *v_a, float *v_b, float *v_c, float vq, float vd) {
+  float v_alpha, v_beta;
+  FOC_invParkTransform(&v_alpha, &v_beta, vq, vd, sin(vq), cos(vq));
+  FOC_invClarkSVPWM(v_a, v_b, v_c, v_alpha, v_beta);
+}
 
 int main(int argc, char **argv) {
   // 64 aligned
@@ -20,15 +42,24 @@ int main(int argc, char **argv) {
     l_trace_encoder_configure_target(encoder, TARGET_PRINT);
   #endif
   l_trace_encoder_start(encoder);
-  volatile int c;
-  // do some dummy loops
-  for (int i = 0; i < NUM_ITERS; i++) {
-    c += i;
+  for (int i = 0; i < 10; i++) {
+    __asm__("nop");
   }
-  // do some different loops
+
+  // warmup
+  // float v_a = 0, v_b = 0, v_c = 0;
+  // FOC_update(&v_a, &v_b, &v_c, 0, 0);
+  printf("Starting trace encoder\n");
+
   for (int i = 0; i < NUM_ITERS; i++) {
-    c -= i;
+    float vq = 2 * M_PI * i / NUM_ITERS;
+    float vd = 0;
+    volatile float v_a, v_b, v_c;
+    for (int j = 0; j < 2; j++) {
+      FOC_update(&v_a, &v_b, &v_c, vq, vd);
+    }
   }
+
   l_trace_encoder_stop(encoder);
   #ifdef USE_L_TRACE_DMA
     l_trace_sink_dma_read(sink_dma, dma_buffer);

examples/pmu-tests/src/vpp-test.c

@@ -46,7 +46,7 @@ int main(int argc, char **argv) {
   for (int i = 0; i < NUM_ITERS; i++) {
     float vq = 2 * M_PI * i / NUM_ITERS;
     float vd = 0;
-    float v_alpha, v_beta, v_a, v_b, v_c;
+    volatile float v_a, v_b, v_c;
     for (int j = 0; j < 2; j++) {
       FOC_update(&v_a, &v_b, &v_c, vq, vd);
     }